Integrated Navigation and Local Mapping System for a Single-Axis Wheeled Module

摘要

The paper considers a design of integrated navigation system of a single-axis wheeled module used to perform various functions in airdrome infrastructure. The core of the integrated navigation system is a strapdown inertial navigation system integrated with a video camera and dynamic model of a single-axis wheeled module with nonholonomic contact with underlying surface. The integrated navigation system simultaneously estimates the module navigation parameters and the coordinates of the landmarks observed by the video camera. The system is shown to determine the navigation parameters and to construct the structural map of landmarks over rather long periods without external aiding.